Surgical instrument with control for detected fault condition

ABSTRACT

A method of controlling a surgical instrument comprising an end effector may comprise detecting a first signal indicating that an end effector component of a surgical instrument is positioned between a first position and a second position; and automatically controlling operation of the end effector component when a second signal is not detected within a predetermined delayed response time period after detecting the first signal, wherein the second signal indicates that the end effector component is in one of the first position or the second position.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a divisional application of U.S. patent applicationSer. No. 13/483,444, which claims priority to U.S. Provisional PatentApplication No. 61/491,671 filed on May 31, 2011, and to U.S.Provisional Patent Application No. 61/491,698, filed on May 31, 2011,each of which is incorporated by reference in its entirety herein.

This application is related to co-pending U.S. patent application Ser.No. 13/483,410, entitled “SURGICAL INSTRUMENT WITH MOTOR,” filed on May30, 2012, having a common assignee, and claiming priority to U.S.Provisional Application No. 61/491,698, filed on May 31, 2011 and toU.S. Provisional Application No. 61/491,671, filed on May 31, 2011.

TECHNICAL FIELD

Aspects of the present disclosure relate to surgical instruments thatare minimally invasive and control techniques for such instruments. Moreparticularly, aspects of the present disclosure relate to detecting aposition of an end effector component of a surgical instrument tocontrol the instrument. For example, aspects of the present disclosureinclude detecting a fault condition of the surgical instrument, based onits detected position, and performing control operations to rectify thefault condition.

INTRODUCTION

Minimally invasive surgical techniques generally attempt to performsurgical procedures while minimizing damage to healthy tissue. Someminimally invasive surgical procedures are performed remotely throughthe use of robotically-controlled surgical instruments. Inrobotically-controlled surgical systems, surgeons manipulate inputdevices at a surgeon side console, and a patient side console thatinterfaces with a robotically-controlled surgical instrument is able tooperate on a patient based on the surgeon's inputs at the surgeon sideconsole.

Minimally invasive surgical instruments, whether manually or roboticallyactuated may be used in a variety of operations and have variousconfigurations. Many such instruments include a surgical end effectormounted at a distal end of a long shaft that is configured to beinserted (e.g., laporoscopically or thoracoscopically) through anopening (e.g., body wall incision, natural orifice) to reach a remotesurgical site. In some instruments, an articulating wrist mechanism ismounted to the distal end of the instrument's shaft to support the endeffector and alter an orientation with reference to the shaft'slongitudinal axis.

End effectors may be configured to perform various functions so as to beable to perform any of a variety of surgical procedures. Examplesinclude, but are not limited to, cauterizing, ablating, suturing,cutting, stapling, etc., and combinations thereof. Accordingly, endeffectors can include a variety of components and/or combinations ofcomponents to perform these surgical procedures.

Actuation of the end effector to perform a surgical procedure isgenerally accomplished through the use of input at a proximal end of thesurgical instrument, whether manually or robotically, and various gears,levers, pulleys, etc. are used to transmit the input to actuate the endeffector. In the case of robotically-controlled surgical instruments, atransmission mechanism at the proximal end of the instrument interfaceswith various servo actuators provided on a robotic arm of a patient sideconsole (also referred to as a patient side cart). The servo actuatorsreceive signals through a master controller and provide input, e.g., toinput drives (e.g., rotating shafts) at the transmission mechanism,which the various gears, levers, rack and pinions, pulleys, etc.ultimately transmit to actuate the end effector.

In light of the remote nature of the operation of such end effectors, itmay be difficult in some cases for a surgeon to know the position of acomponent of the end effector during actuation to perform a surgicalprocedure. For example, in some cases, other portions of the surgicalinstrument, including the end effector itself, and/or parts of thepatient's body can hide from view a component during the actuationprocedure. Also, if an end effector component encounters a faultcondition when attempting to perform a surgical procedure for which ithas been actuated, it may be difficult to correct the fault conditiondue to the limited space in which the instrument operates and consequentlimited access to the instrument, as well as the remote position of theend effector from the surgeon.

It may therefore be desirable to provide a technique to detect theposition of an end effector during actuation. For example, it may bedesirable to detect the position of an end effector to determine whetheror not the end effector has successfully performed the desired surgicalprocedure for which it was actuated. It also may be desirable to provideautomatic control of a surgical instrument to perform various actions ifa surgical procedure is not completed or if the end effector does notreach an anticipated position when performing a surgical procedure.

SUMMARY

The present teachings may solve one or more of the above-mentionedproblems and/or may demonstrate one or more of the above-mentioneddesirable features. Other features and/or advantages may become apparentfrom the description that follows.

In accordance with various exemplary embodiments of the presentteachings, the present teachings contemplate a method of controlling asurgical instrument comprising an end effector. The method includesdetecting a first signal indicating that an end effector component of asurgical instrument is positioned between a first position and a secondposition, and automatically controlling operation of the end effectorcomponent after a second signal is not received within a predeterminedtime period after detecting the first signal. The second signalindicates that the end effector component is in one of the firstposition or the second position.

In accordance with at least one exemplary embodiment, the presentteachings contemplate a system for detecting a fault condition of asurgical instrument. The system includes a surgical instrument and acontroller. The surgical instrument includes an end effector componentconfigured to move between a first position and a second position. Thecontroller is in signal communication with the surgical instrument andis configured to detect a first signal indicating that the end effectorcomponent is positioned between the first position and the secondposition and to detect a second signal indicating that the end effectorcomponent is in one of the first position or the second position. Thecontroller is further configured to transmit a control signal to controlthe end effector component after the second signal is not receivedwithin a predetermined time period after the controller detects thefirst signal.

Additional objects and advantages will be set forth in part in thedescription which follows, and in part will be obvious from thedescription, or may be learned by practice of the present disclosureand/or claims. At least some of these objects and advantages may berealized and attained by the elements and combinations particularlypointed out in the appended claims.

It is to be understood that both the foregoing general description andthe following detailed description are exemplary and explanatory onlyand are not restrictive of the invention, as claimed; rather the claimsshould be entitled to their full breadth of scope, includingequivalents.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure can be understood from the following detaileddescription, either alone or together with the accompanying drawings.The drawings are included to provide a further understanding of thepresent disclosure, and are incorporated in and constitute a part ofthis specification. The drawings illustrate one or more exemplaryembodiments of the present teachings and together with the descriptionserve to explain certain principles and operation. In the drawings,

FIG. 1 is a perspective view of a minimally invasive surgical instrumentin accordance with an exemplary embodiment of the present disclosure;

FIG. 2 is a perspective view of an end effector corresponding to aportion of the surgical instrument of FIG. 1 in accordance with anexemplary embodiment;

FIGS. 3A and 3B are partial perspective views of the end effector ofFIG. 2 showing a cutting element respectively in a first position and asecond position in accordance with an exemplary embodiment;

FIG. 3C is a side view of the cutting element and cutting element drivecomponent of the end effector of FIGS. 3A and 3B in accordance with anexemplary embodiment;

FIGS. 4A and 4B are top and bottom detailed views corresponding to theportion of the surgical instrument of FIG. 1 in accordance with anexemplary embodiment;

FIG. 5 is an elevation view of a portion of the transmission mechanismof FIG. 4 in accordance with an exemplary embodiment;

FIG. 6 is a partial rear perspective view of the portion of thetransmission mechanism of FIG. 4 in accordance with an exemplaryembodiment;

FIGS. 7A-7B are differing perspective views of a drive system incooperation with a motor and a portion of a chassis of the transmissionmechanism of FIG. 4;

FIG. 8 is a perspective view of a gear component of the drive system ofFIGS. 7A and 7B shown in isolation in accordance with an exemplaryembodiment;

FIGS. 9A and 9B are partial elevation views of the motor and drivesystem of FIGS. 7A and 7B shown with the drive component of a cuttingelement of a surgical instrument in a fully-extended, distal-mostposition and a fully-retracted, proximal-most position, respectively;

FIG. 10 is a flow diagram illustrating an exemplary method of detectinga fault condition of an end effector component of therobotically-controlled surgical instrument in accordance with at leastone exemplary embodiment;

FIG. 11 is a flow diagram illustrating an exemplary method ofcontrolling an end effector component of the robotically-controlledsurgical instrument in accordance with at least one exemplaryembodiment;

FIG. 12A is a schematic view of an exemplary robotic surgical systemconfigured to operate a robotically-controlled surgical instrument inaccordance with an exemplary embodiment;

FIG. 12B is an diagrammatic view of the system of FIG. 12A;

FIG. 12C is a partial schematic state diagram of the systems of FIGS.12A and 12B according to an exemplary embodiment; and

FIG. 13 is a perspective view of a chassis of the transmission mechanismof FIG. 4 shown in isolation in accordance with at least one exemplaryembodiment.

DETAILED DESCRIPTION

This description and the accompanying drawings that illustrate exemplaryembodiments should not be taken as limiting, with the claims definingthe scope of the present disclosure. Various mechanical, compositional,structural, electrical, and operational changes may be made withoutdeparting from the scope of this description and the invention asclaimed, including equivalents. In some instances, well-knownstructures, and techniques have not been shown or described in detail soas not to obscure the disclosure. Like numbers in two or more figuresrepresent the same or similar elements. Furthermore, elements and theirassociated features that are described in detail with reference to oneembodiment may, whenever practical, be included in other embodiments inwhich they are not specifically shown or described. For example, if anelement is described in detail with reference to one embodiment and isnot described with reference to a second embodiment, the element maynevertheless be claimed as included in the second embodiment.

For the purposes of this specification and appended claims, unlessotherwise indicated, all numbers expressing quantities, percentages, orproportions, and other numerical values used in the specification andclaims, are to be understood as being modified in all instances by theterm “about,” to the extent they are not already so modified.Accordingly, unless indicated to the contrary, the numerical parametersset forth in the following specification and attached claims areapproximations that may vary depending upon the desired propertiessought to be obtained by the present invention. At the very least, andnot as an attempt to limit the application of the doctrine ofequivalents to the scope of the claims, each numerical parameter shouldat least be construed in light of the number of reported significantdigits and by applying ordinary rounding techniques.

Notwithstanding that the numerical ranges and parameters setting forththe broad scope of the invention are approximations, the numericalvalues set forth in the specific examples are reported as precisely aspossible. Any numerical value, however, inherently contains certainerrors necessarily resulting from the standard deviation found in theirrespective testing measurements. Moreover, all ranges disclosed hereinare to be understood to encompass any and all subranges subsumedtherein.

It is noted that, as used in this specification and the appended claims,the singular forms “a,” “an,” and “the,” and any singular use of anyword, include plural referents unless expressly and unequivocallylimited to one referent. As used herein, the term “include” and itsgrammatical variants are intended to be non-limiting, such thatrecitation of items in a list is not to the exclusion of other likeitems that can be substituted or added to the listed items.

With reference now to FIG. 1, a minimally invasive surgical instrument100 in accordance with an exemplary embodiment of the present disclosureis depicted. FIG. 1 is a perspective view of the minimally invasivesurgical instrument 100, and FIGS. 2 and 4 show detailed views ofexemplary, non-limiting embodiments of the corresponding portionsdenoted in FIG. 1 that the surgical instrument 100 can include. Thedirections “proximal” and “distal” are used herein to define thedirections as shown in FIG. 1, with distal generally being in adirection further along a kinematic arm or closest to the surgical worksite in the intended operational use of the instrument 100, for example,in use for performing surgical procedures. As shown in FIG. 1, theinstrument 100 generally includes a force/torque drive transmissionmechanism 10 at its proximal end, an instrument shaft 12 mounted to thetransmission mechanism 10, and an end effector 14 disposed at the distalend of the shaft 12. In the exemplary embodiment shown in FIG. 1, thesurgical instrument 100 also includes an optional articulating wristmechanism 13 mounted at the distal end of the shaft 12 to support theend effector 14 and change its orientation with reference to the shaft's12 longitudinal axis.

In an exemplary embodiment, the instrument 100 is configured to bemounted on and used with a minimally invasive surgical robotic system,which in an exemplary embodiment includes a patient side console 1000, asurgeon side console 2000, and an electronics/control console 3000, asillustrated in the schematic view of FIG. 12A and in an diagrammaticview of FIG. 12B (it is noted that the system components in FIGS. 12Aand 12B are not shown in any particular positioning and can be arrangedas desired, with the patient side console being disposed relative to thepatient so as to effect surgery on the patient). A non-limiting,exemplary embodiment of a surgical robotic system with which theinstrument 100 can be utilized is a da Vinci® Si (model no. IS3000)commercialized by Intuitive Surgical, Inc. of Sunnyvale, Calif.

The robotic surgical system is used to perform minimally invasiverobotic surgery by interfacing with and controlling a variety ofsurgical instruments, as those of ordinary skill in the art aregenerally familiar. The patient side console 1000 includes various armsfor holding and manipulating various tools. As shown in FIGS. 12A and12B, one arm is configured to interface with and control arobotically-controlled surgical instrument 100, including an endeffector 14. In general, the surgeon side console 2000 receives inputsfrom a surgeon by various input devices, including but not limited to,gripping mechanisms and foot pedals 52, etc. and serves as a mastercontroller by which the patient side console 1000 acts as a slave toimplement the desired motions of the surgical instrument(s) (e.g.,instrument 100) interfaced therewith, and accordingly perform thedesired surgical procedure. The surgeon side console 2000 also caninclude a viewer or display 2006 that allows the surgeon to view athree-dimensional image of the surgical site. The patient side console1000 can include a plurality of jointed arms 1002 configured to holdvarious tools, including, but not limited to, for example, a surgicalinstrument with an end effector (e.g., surgical instrument 100), and anendoscope (not shown). Based on the commands input at the surgeon sideconsole 2000, the patient side console 1000 can interface with atransmission mechanism of the surgical instrument to position andactuate the instrument to perform a desired medical procedure. Theelectronics/control console 3000 receives and transmits various controlsignals to and from the patient side console 1000 and the surgeon sideconsole 2000, and can transmit light and process images (e.g., from anendoscope at the patient side console 1000) for display, such as, e.g.,display 2006 at the surgeon side console 2000 and/or on a display 3006associated with the electronics/control console 3000. Those havingordinary skill in the art are generally familiar with such roboticallycontrolled surgical systems.

In an exemplary embodiment, the electronics/control console 3000 mayhave all control functions integrated in one or more controllers in theelectronics/control console 3000, or additional controllers may beprovided as separate units and supported (e.g., in shelves) on theelectronics/control console 3000 for convenience. The latter may beuseful, for example, when retrofitting existing electronics/controlconsoles to control surgical instruments requiring additionalfunctionality. Likewise, although in various exemplary embodiments, oneor more input mechanisms may be integrated into the surgeon side console2000, various other input mechanisms may be added separately andprovided so as to be accessible to the surgeon during use of the system,but not necessarily integrated into the surgeon side console 2000.

Accordingly, as used herein, the term “electronics/control console” andvariations thereof should be understood to include a console wherein oneor more controllers (e.g., processors, such as processor 50) areintegrated into a unit that receives, processes and transmits signals toand from the patient side console 1000 and surgeon side console 2000. Inaccordance with various embodiments, an electronics/control console asused herein also can include one or more separate controllers, e.g.,processor 80, that may be provided in direct signal communication withthe surgical instrument, e.g., bypassing signal communication with thepatient side console. As such, a “console” does not necessarily requireall controllers to be integrated into a single unit and can include oneor more separate control units. Such separate controllers can be usefulto add functionality to operational aspects of a surgical instrumentwithout necessarily having to rely on servo actuators associated withthe patient side console. Such controllers can also be useful whenretrofitting existing robotic surgical system as a way to increasecontrol functionality and signal processing into the electronics/controlconsole.

Similarly, a “surgeon side console” as used herein includes a consolethat comprises one or more input devices that a surgeon can manipulateto transmit signals, generally through the electronics/control console,to actuate a surgical instrument interfaced with a patient side console,and one or more output devices that can provide feedback to the surgeon.As used herein, it should be understood, however, that a surgeon sideconsole can include a unit that integrates the various input and outputdevices, with, for example, a display (e.g., substantially as shown byelement 2000 in FIGS. 12A and 12B), but also can include separate inputand/or output devices (e.g, 90 in FIG. 12A) that are in signalcommunication with the electronics/control console and accessible by asurgeon, although not necessarily integrated within a unit with variousother input devices. As an example, input units may be provided directlyat the electronics/control console and may provide input signals to aprocessor at the electronics/control console. As such, a “console” doesnot necessarily require all of the input and output devices to beintegrated into a single unit and can include one or more separate inputand/or output devices.

FIG. 12C is a schematic state diagram of the robotic control systemshowing exemplary components of a teleoperated robotic surgical systemused to control the surgical instrument 100 in accordance with anexemplary embodiment of the present teachings. The electronics/controlconsole 3000 includes at least one processor 50 that controls theoperation of the surgical instrument 100 and the end effector 14. In anexemplary embodiment, the processor 50 can control the operation of acutting blade in an exemplary embodiment of the surgical instrument endeffector, or alternately, another processor 80 may directly communicatewith the cutting blade, bypassing signal communication with the patientside console 1000.

The surgeon side console 2000 may include one or more input units 52(only one being depicted for simplicity) and one or more output units54, 56, such as, for example, a display and a speaker. In variousexemplary embodiments, suitable output units may include, but are notlimited to a display a speaker, (or other component capable oftransmitting sound), and/or a component with which a surgeon is incontact that can vibrate or the like to provide haptic feedback. Invarious exemplary embodiments, the one or more output units may be partof the surgeon side console 2000 and signals can be transmitted from thecore control console 3000 thereto.

As those having ordinary skill in the art are familiar with, in the caseof a robotically-controlled surgical instrument 100, the transmissionmechanism 10 is configured to interface with the arm of the patient sideconsole 1000 to receive various inputs provided by servo actuators andto convert those inputs via a system of various gears, pulleys, and/orlevers, etc. to forces/torques ultimately transmitted to actuate anddrive the end effector to control motion thereof. In addition, as willbe explained further below, the surgical instrument 100 can be in directsignal communication with the electronics/control console 3000 toprovide direct drive of various drive shafts with, for example, anonboard motor disposed in the transmission mechanism 10. Of course, asdescribed above, minimally invasive surgical instruments within thescope of the present disclosure can also be manually actuated and aproximal end transmission mechanism can instead have inputs that aremanually actuated.

As will be described in further detail below, however, transmissionmechanisms in accordance with various exemplary embodiments of thepresent disclosure can include an onboard motor, in addition toincluding manual and/or servo actuated inputs. Using an onboard motor inthe transmission mechanism can be a relatively inexpensive way toprovide additional functionality and additional degrees of freedom inthe operation of a surgical instrument, for example, by drivingadditional movements of components of the end effector. Providing anonboard motor also can be beneficial to reduce the work needed fromservo actuators in a robotic surgical system to operate an instrument.

As will be described in further detail below, FIGS. 4A and 4B aredetailed views, from top and bottom perspectives, respectively, of oneexemplary embodiment of a transmission mechanism 10 (shown in FIG. 4Awith its protective covering removed), corresponding generally to thedetailed portion of the surgical instrument shown FIG. 1, that includesan onboard motor to drive various components of the surgical instrumentin accordance with an exemplary embodiment. As will be described infurther detail below, in various exemplary embodiments, utilizing theonboard motor provides a relatively robust way to drive a component ofan end effector. Moreover, the use of a limit switch provides arelatively robust way to detect a position of the component as thecomponent is driven. The ability to detect a position of the componentcan be useful information, for example, that can be provided to asurgeon performing a surgical procedure and/or as input that can in turnbe used in a control algorithm in order to control operation of asurgical instrument.

One exemplary embodiment of a surgical instrument 100 with which aspectsof the present disclosure may find particular use is a fusing andcutting surgical instrument, with the end effector 14 comprising movablejaws capable of grasping tissue therebetween and provided withelectrodes to deliver electrosurgical energy to fuse the tissue, and acutting element configured to cut the fused tissue. Such a surgicalinstrument relies on multiple degrees of freedom (DOF) to operate,including roll of the shaft and end effector (roll); articulation,preferably about two orthogonal directions, e.g., arbitrarily chosen“pitch” and “yaw” directions of a wrist mechanism (articulation DOF);opening and closing of the jaws (grip DOF); and translation of a cuttingelement relative to the end effector (translation DOF). For a furtherdescription of one exemplary embodiment of a surgical instrumentconfigured to perform fusing and cutting operations, reference is madeto U.S. patent application Ser. No. 13/399,391, entitled “FUSING ANDCUTTING SURGICAL INSTRUMENT AND RELATED METHODS,” filed on Feb. 17, 2012(now issued as U.S. Pat. No. 9,055,961), which claims the benefit ofpriority to U.S. Provisional Patent Application No. 61/444,400, filed onFeb. 18, 2011 and to U.S. Provisional Patent Application No. 61/491,719,filed on May 31, 2011, the disclosures of which are incorporated hereinby reference in their entireties.

FIG. 2 is a perspective view of an exemplary embodiment of an endeffector 14 corresponding to a surgical instrument configured for tissuefusing and cutting. FIGS. 3A and 3B are additional perspective views ofthe end effector 14, with various parts thereof removed to show a betterview of a cutting element, and FIG. 3C is a partial side view of thecutting element and a cutting element drive component of the endeffector shown in isolation.

Briefly, the end effector 14 includes opposing upper and lower jaws 16a, 16 b. The jaws 16 a, 16 b are configured to move between an openposition and a closed position and can include electrodes 62 to provideelectrosurgical energy (e.g., bipolar energy) sufficient to fuse tissuetogether. In addition, grooves 17 a, 17 b (groove 17 a is hidden fromview in FIG. 2) are respectively disposed along a length of each of theupper and lower jaws 16 a, 16 b. The end effector 14 also includes acutting element in the form of a short cutting blade 18 (see FIGS.3A-3C) generally disposed to move in proximal and distal directionswithin the grooves 17 a, 17 b of the jaws 16 a, 16 b; the grooves 17 a,17 b thereby forming a track for the cutting blade 18 as the cuttingblade 18 traverses along a length of the jaws 16 a, 16 b.

As will be discussed in more detail below, the cutting blade 18 istranslated distally and proximally relative to the end effector 14. Thecutting blade 18 travels between a proximal-most home position where thecutting blade 18 is in a “garaged” position in which the cutting blade18 is recessed proximally behind the jaws 16 a, 16 b (see FIG. 3A), anda distal-most, fully-extended position in which the distal end of thecutting blade 18 is positioned at a distal end of the grooves 17 a, 17 b(see FIG. 3B). In the home (‘garaged”) position, the cutting blade 18 isprotected by opposing garage features 19 a, 19 b (only 19 b being shownin FIGS. 3A and 3B). The cutting blade 18 is attached to a distal end ofa drive component 60, which in an exemplary embodiment can be a cable,that attaches at its proximal end to a suitable transmission mechanism,such as, for example, the transmission mechanism 10 of FIG. 4, to beactuated to extend and retract the cutting blade 18 along the trackdefined by the grooves 17 a, 17 b.

Various exemplary embodiments of the present disclosure contemplatedetecting the position of the cutting blade during its translation(i.e., extension and retraction) to perform a cutting procedure. As willbe explained further below, various exemplary embodiments use an onboardmotor and limit switch as a robust system to detect a position of thecutting blade. In particular, various exemplary embodiments can use adetected position of the cutting blade to determine a fault condition ofthe cutting blade, such as, for example, to determine if the cuttingblade is stuck on tissue and/or other material during the cuttingprocedure. Based on a determined fault condition, the operation of thecutting blade can be altered to facilitate rectifying the faultcondition, for example, by altering the actuation of the cutting bladein an attempt to loosen the blade from tissue and/or other material uponwhich the blade is stuck.

Surgical Instrument Transmission Mechanism with Motor and Limit Switch

As described above, in accordance with one exemplary embodiment, thepresent disclosure contemplates a surgical instrument transmissionmechanism 10 that includes a plurality of components that effectmovement of the instrument shaft 12, the end effector 14, wrist 13,and/or other associated components. The transmission mechanism 10 mayinclude a system of actuation components, such as, for example, gears,levers, gimbals, rack and pinions, pulleys, etc. to transmit inputs tothe transmission mechanism 10 into various forces/torques used to drivethe motion and operate the end effector 14, shaft 12, and/or wrist 13 ofthe surgical instrument 100. Those of ordinary skill in the art havefamiliarity with various configurations of transmission mechanismsprovided at the proximal end of a robotically-controlled surgicalinstrument that are configured to interface with corresponding driveinputs provided via servo actuators on the robotic arm of thepatient-side console to operate the surgical instrument. Those ofordinary skill in the art also have familiarity with a variety oftransmission mechanism used in manually-actuated and controlledminimally invasive surgical instruments, including, but not limited to,for example, knobs, buttons, levers, triggers, etc.

The transmission mechanism 10 transmits received actuation inputs toresulting torques and forces to effect movement of the instrument shaft12, the end effector 14, wrist 13, and/or associated components, toaccomplish various motions resulting in a multi-DOF surgical instrument.In addition, in the depicted exemplary embodiment in accordance with anaspect of the present disclosure, the transmission mechanism 10 includesan onboard electric motor 22 that receives input voltages, for examplefrom a robotic surgical control system (e.g., electronics/controlconsole 3000 of FIGS. 12A and 12B), to drive the cutting blade drivecomponent 60 via a drive system 30 that includes, for example, gears anda rack and pinion mechanism. The transmission mechanism 10 furtherincludes a limit switch 20 that is operably coupled to the onboard motor22. The motor 22 and limit switch 20, as well as a drive systemdescribed in further detail below, which may be removable from thetransmission mechanism 10.

The motor 22 is configured to be driven by input voltages that can beprovided, for example, via direct signal communication with theelectronics/control console 3000, i.e., through processor 50 orprocessor 80, of the teleoperated robotic surgical system of FIGS. 12Aand 12B, based upon received actuation inputs from the user which may beprovided at inputs at the surgeon side console 2000. The motor 22 isconfigured to provide a driving force to a drive system 30 that iscoupled with the cutting blade 18 of the end effector 14 to cause thecutting blade 18 to translate in proximal and distal directions, asdiscussed with reference to FIGS. 3A and 3B. The addition of the motor22 to the transmission mechanism 10 thereby allows for an additionaldegree of movement, e.g., translation in proximal and distal directionsof the blade 18, of the surgical instrument 100 other than the variousother motions of the end effector 14, wrist 13, and/or shaft 12 of thesurgical instrument. In particular, in the exemplary embodiment of FIG.4A, in addition to roll DOF, articulation DOF, and grip DOF, which canbe actuated by, for example, servo actuators associated with the patientside console 1000 of the robotic surgical system of FIGS. 12A-12B, theincorporation of the motor 22 allows for the additional movement of thecutting blade 18 without resulting in additional work for the servoactuators. Those of ordinary skill in the art will appreciate that anonboard motor can also be used with surgical instruments that aremanually actuated and/or have transmission mechanisms that include bothmanual inputs and inputs from servo actuators.

In various exemplary embodiments, it is envisioned that the motor 22 canbe used to actuate various components of the end effectors that do notrequire a significant amount of power to be driven, such as, forexample, the translation of the cutting blade 18. Consequently, themotor 22 can be a relatively inexpensive motor, such as, for example, anoff-the-shelf DC motor. Providing a relatively inexpensive motor can bebeneficial for surgical instruments that are configured for single useand are disposable. Thus, in accordance with various exemplaryembodiments, the entire surgical instrument 100 including a transmissionmechanism 10 having the onboard motor 22 can be disposable.

In various exemplary embodiments, the motor 22 can be a DC motorconfigured to deliver sufficient force when operating with voltageinputs ranging from about 1 volt to about 10 volts, for example, about6.5 volts to about 8 volts, to drive the cutting blade 18. Input voltageto the motor 22 can vary during operation of the cutting blade 18depending, for example, on the stage of the cutting procedure. By way ofexample, in various exemplary embodiments, voltages may be higher whendriving the blade from the home to the distal-most position and back,and may be lower during a holding of the cutting blade 18 itsdistal-most position during a cutting procedure. Such holding of theblade can help to prevent mechanical bouncing and allow sufficient timeto complete a cutting procedure. In such a “hold” state, input voltagesmay range from about 1.5 V to about 4 V.

In operation using the robotic surgical system of FIGS. 12A-B, when theuser (e.g., a surgeon) provides an input via the surgeon side console2000 to, for example, perform a cutting operation, in response to theuser input, the electronics/control console 3000 outputs voltage to themotor 22 at the transmission mechanism 10 in order to cause operation ofthe motor 22. When voltage is provided to the motor 22 from theelectronics/control console 3000 in response to the input at the surgeonside console 2000, the motor 22 is configured to provide driving forceto components in the transmission mechanism to operate the cuttingelement drive component 60 attached to the cutting blade 18 to cause thecutting blade 18 to extend distally or retract proximally.

In one exemplary embodiment as depicted in the various views of FIGS.4-8, the drive system 30 can include a worm shaft 32 that is directlycoupled to the drive shaft of the motor 22 and rotated therewith. Theworm shaft 32 in turn engages with a worm gear 34 of a reduction gearcomponent 33 (shown in isolation in FIG. 8). As shown best in FIG. 8,the reduction gear component 33 includes a shaft 35 with the worm gear34 attached to one end and a pinion gear 36 (having a smaller diameterthan the worm gear 34) attached at the opposite end. The worm gear 34and the pinion gear 36 thus rotate together about the longitudinal axisof the shaft 35. The worm gear 34 is received within a cylindrical gearreceptacle 72 of a chassis 70 of the transmission mechanism 10 (shown inisolation in FIG. 13). With reference now to FIGS. 7A-7B and 9A-9B, thepinion gear 36 engages with a rack 40 to which the drive component 60for the cutting blade 18 is secured for movement therewith. In anexemplary embodiment, the drive component 60 could be, for example, acable or a cable crimped to a tubing, e.g., a hypotube, terminating at aproximal end of the instrument 100 along a portion of the shaft 12 ofthe instrument 100. The rotation of the pinion gear 36 causes themovement of the rack 40 in the proximal and distal directions withrespect to the end effector 14, which in turn results in push/pullforces being exerted on the drive component 60. The drive component 60rotates relative to rack 40, and may rotate along with shaft 12 of theinstrument 100. The cutting element drive component 60 is routed fromthe transmission mechanism 10 along the length of the shaft 12, throughthe wrist 13 (if any) of the surgical instrument 100 and terminates atthe end effector 14 where the cutting element drive component 60 isattached to the cutting blade 18. The movement of the cutting elementdrive component 60 causes translation of the attached cutting blade 18in the distal and proximal directions along the grooves 17 a, 17 b ofthe jaws 16 a, 16 b as described above. FIG. 9A shows the drive system30 and cutting element drive component 60 corresponding to afully-extended, distal-most position of the cutting blade relative tothe jaws 16 a, 16 b of the end effector 14, while FIG. 9B shows thedrive system 30 and cutting element drive component 60 corresponding toa fully-retracted, proximal-most position of the cutting blade 18relative to the jaws 16 a, 16 b.

A bearing 61 may be provided distal to the rack 40 in the chassis 70(shown in FIG. 7B, for example). A lead-screw assembly (not shown),including, for example, a screw, a flexible coil to bend at the wrist13, and a tube extending from distal to proximal ends, that is used toopen and close the jaws 16 a, 16 b is positioned proximate to thechassis 70 against the bearing 61. When the jaws 16 a, 16 b are opened,the bearing 61 supports an axial thrust load of the lead-screw assemblyas the assembly moves in the direction of the chassis 70. When the jawsare closed, the screw moves forward and does not exert a load on thebearing 61. For further details regarding use of a lead-screw assemblyfor opening and closing the jaws of an end effector, reference is madeto U.S. patent application Ser. No. 13/399,391, entitled “FUSING ANDCUTTING SURGICAL INSTRUMENT AND RELATED METHODS,” filed on Feb. 17, 2012(now issued as U.S. Pat. No. 9,055,961), which claims the benefit ofpriority to U.S. Provisional Patent Application No. 61/444,400, filed onFeb. 18, 2011 and to U.S. Provisional Patent Application No. 61/491,719,filed on May 31, 2011, the disclosures of which are incorporated hereinby reference in their entireties.

Those having ordinary skill in the art will appreciate that the drivesystem 30 disclosed herein is nonlimiting and exemplary only, and any ofa variety of other systems can be used to operably couple the motor 22with the cutting element drive component 60 to cause the rotary shaftmotion of the motor to be converted to the linear push/pull movement ofthe drive component 60, and thereby translation of the cutting blade 18in proximal and distal directions.

The drive system 30 also includes a chassis 70 (shown in isolation inFIG. 13) to protect and join together the various components of thedrive system 30. The chassis 70 permits the entire drive system 30,along with motor 22 and limit switch 20, to be relatively easily securedto and removed from various housing parts (shown in at least some of theillustrations depicting the drive system 30) of the transmissionmechanism 10, for example, by using one or more screws, bolts, etc.between the chassis 70 and the transmission mechanism housing engagingthe chassis 70 at a screw slot 76. The separate attachment of the drivesystem 30 as an assembly allows for an accommodation for tolerancestack-ups of individual parts of the instrument 100 to approximately ±3/32 inches.

As mentioned above, in some cases it may be desirable to obtaininformation about the position of a translating component of an endeffector during its operation. In various exemplary embodiments, a limitswitch can be used in conjunction with a translating component of an endeffector to provide such position information regarding the position ofthe translating component. For example, as shown with particularreference to FIGS. 5, 6, 7B, 9A, and 9B, in various exemplaryembodiments, a limit switch 20 can be utilized in conjunction with themotor 22 and drive system 30 to provide position information of thecutting blade 18 as the blade 18 translates relative to the jaws 16 a,16 b of the end effector 14.

As shown, the limit switch 20 includes a component, such as a button 25,which is able to be depressed and released from a depressed state. Thelimit switch 20 may be provided in any of a variety of positions in thetransmission mechanism 10 that permits the component, e.g., button 25,of the limit switch 20 to be depressed or released based on inputs fromthe actuation of the motor 22. As shown in FIGS. 9A and 9B, for example,the limit switch 20 is provided so as to engage with the worm gear 34 ofthe drive system 30, as will be explained in further detail below. Suchpositioning and operation of the limit switch is nonlimiting andexemplary only, however, and other arrangements may be used as would beapparent to those having ordinary skill in the art to cause actuation ofthe limit switch as the cutting element translates. For example, in anexemplary embodiment, a rack may directly activate the limit switch 20based on the linear movement of the rack as the cutting elementtranslates. A cam attached to the rack, for example, may contact thelimit switch 20, which activates the limit switch 20 based on the linearmovement of the rack.

With reference to FIGS. 8, 9A and 9B, the worm gear 34 includes a flange38 that extends from an internal surface of the gear 34 in a directionslightly along the shaft 35. The flange 38 extends partially around acircumference of the internal surface of the worm gear 34 and terminatesat two ends 39. A notch 37 is defined between the two ends 39 of theflange 38, i.e., along the portion of the internal surface of the wormgear 34 where the flange 38 does not extend. In an initial position ofthe worm gear 34, corresponding to the home, “garaged” position of thecutting blade 18 attached to the drive component 60, the button 25 ofthe limit switch 20 is maintained within the notch 37 out of contactwith the flange 38 and in a released state. As the worm gear 34 rotatesto move the drive component 60 (and consequently to translate thecutting blade 18 relative to the jaws 16 a, 16 b), the button 25 engageswith the flange 38 and is thereby depressed as the drive component 60 isconcurrently being moved. The angular extent of the flange 38corresponds to the distance of travel to move the cutting blade 18 fromits home (garaged) position to its distal-most, fully extended position.Accordingly, when the drive component 60 has moved to a positioncorresponding to the cutting blade 18 being in its fully extended,distal-most position, and the worm gear 34 has rotated almost 360degrees, the button 25 is released from the extension flange 38 backinto the notch 37 (at the opposite side from where it started in thehome, garaged position) and out of contact with the extension flange 38.A stop portion 31 extends inwardly from the flange 38 toward the shaft35 and abut against a stop-engaging portion 74 of the gear receptacle 72at the home position and the fully extended position, which stops therotation of the worm gear 34, thus limiting the movement of the wormgear 34 and the corresponding movement of the drive component 60. Whilethe stop portion 31 is shown proximate to the notch 37 in FIG. 8, one ofordinary skill in the art would recognize that the stop portion 31 maybe at any position on the flange 38 that allows for engagement againstthe stop-engaging portion 74 of the gear receptacle 72.

Thus, the button 25 moves from a released, undepressed state, to adepressed state and then to a released, undepressed state. Afterreaching its fully extended, distal-most state, the motor 22 can bedriven in the opposite direction to retract the cutting blade 18 andreturn the blade 18 to its garaged position. In doing so, the reverserotation of the worm gear 34 again causes the flange 38 to engage anddepress the button 25 on the limit switch 20 as the blade 18 and drivecomponent 60 are translated from the distal-most position to theproximal-most, garaged position. Again, upon reaching the garagedposition of the cutting blade 18, the button 25 is positioned back inthe notch 37 where the button 25 started, and released from thedepressed state out of contact with the flange 38. Thus, the flange 38acts as a cam to depress and release the button 25 provided on the limitswitch 20 as the worm gear 34 rotates to translate the drive component60.

With reference to FIGS. 3A and 3B, the cutting element drive component60 moves the cutting blade 18 between a home (garaged) position in whichthe cutting blade 18 is retracted from the end effector 14 (FIG. 3A) anda fully-extended position in which the cutting blade 18 isfully-extended within the track defined by grooves 17 a, 17 b (FIG. 3B).Thus, as the worm gear 34 begins moving, causing the movement of thecutting blade 18 along the track defined by the grooves 17 a, 17 b, thebutton 25 of the limit switch 20 is depressed. When the worm gear 34 iseither in the initial position in which the button 25 of the limitswitch 20 is received within the notch 37 or is in a fully-rotated state(corresponding to a fully-extended position of the cable 60 and cuttingblade 18) in which the button 25 is received within the notch 37, thenthe button 25 is in a released state.

Therefore, as the rotation of the worm gear 34 is connected with theextension of the cutting element drive component 60, and thereby theposition of the cutting blade 18, and also is connected with thedepression of the limit switch component, e.g., button 25, then theposition of the cutting blade 18 is associated with the depression ofthe limit switch component, e.g., button 25. In particular, when thecutting blade 18 is fully-retracted into the home, garaged position(FIG. 3A) or fully-extended into a fully-operational position (FIG. 3B),then the limit switch component, e.g., button 25, is released within thenotch 37. When the cutting blade 18 is moving from the home position orthe fully-operational position, either from the home position toward thefully-operational position or from the fully-operational position to thehome position, then the limit switch component, e.g., button 25, becomesdepressed. The depression or release of the limit switch button 25, orthe altering of some other component associated with the limit switch20, either closes or opens the electrical circuit of the limit switch20, as those of ordinary skill in the art are familiar with. Closing oropening the electrical circuit in turn provides (or interrupts) anelectrical signal indicating either that the drive component 60 andcutting blade 18 are translating between the home and fully extendedpositions, or are in one of the home or fully extended positions.

In an exemplary embodiment in which the surgical instrument 100 is usedwith a teleoperated robotic surgical system such as that in FIGS.12A-12B, the limit switch 20 can be provided in electrical signalcommunication with the electronics/control console 3000 to provideposition information thereto, and the electronics/control console 3000can in turn use that information to perform various control operationsover the surgical instrument and/or to provide position feedbackinformation to a surgeon at the surgeon side console 2000.

Although it is discussed above that the button 25 of the limit switch 20is depressed when the cutting blade 18 is moving (translating) betweenthe home position and the fully-operational position and is releasedwhen the cutting blade 18 is in the home position and in thefully-operational position, one of ordinary skill in the art wouldrecognize that a component (such as, e.g., button 25) of the limitswitch 20 can instead be in a released, undepressed state while thecutting blade 18 is moving and depressed when the cutting blade 18 is ineither the home position or the fully extended position. However, thebutton 25 may preferably be depressed, and thus the limit switch 20 inan actuated state, when the button 25 is moving along the flange 38 whenthe blade 18 is translating between the home position and thefully-extended position because the motor 22 would just be coming up tospeed when the motor 22 causes the actuation of the limit switch 20, sothe dynamic (impact) loads on a switch plunger (not shown) would beless, which would mean less wear and tear on the limit switch 20.Further, as above, the mechanism that triggers the limit switch 20 toeither open or close the electrical circuit of the limit switch need notbe a depressable button, but could be a variety of mechanisms that canbe moved from a first configuration to a second configuration to openand close the switch 20. Suitable mechanisms can include, but are notlimited to, for example, toggle mechanisms, sliding mechanisms, rotatingmechanisms (e.g., knobs), etc.

Although the above description described use of a motor and limit switchto control the operation and detect positioning of a cutting element ofa surgical instrument end effector, those of ordinary skill in the artwill appreciate that other surgical instrument end effector componentscould be similarly controlled and their position detected. For example,the above-described embodiments of the motor, drive system, and/or limitswitch could be implemented in a variety of surgical instruments tocontrol an end effector, including, but not limited to, for example, asurgical stapling instrument having a cutting mechanism, etc.

Surgical Instrument with Control for Detected Fault Condition

As mentioned above, aspects of the present disclosure furthercontemplate providing control over a surgical instrument end effector toautomatically attempt to rectify a detected fault condition during theoperation of the same. In various exemplary embodiments in accordancewith the present disclosure, control over the cutting blade 18 of thesurgical instrument 100 is contemplated, for example, to release thecutting blade 18 in the event the blade 18 becomes stuck (e.g., ontissue or other material) during a cutting procedure. In at least oneexemplary embodiment, described in more detail below, the positioninformation, for example, obtained by the limit switch 20, can be usedto detect a fault condition of the cutting blade 18 and controloperation of the same based on the detected fault condition.

FIG. 10 is a flow diagram illustrating an exemplary method ofcontrolling an end effector of a surgical instrument in accordance withat least one exemplary embodiment of the present disclosure. As above,in at least one exemplary embodiment, the exemplary method of FIG. 10can be employed in operating a fusing and cutting surgical instrument,such as, for example, that described in U.S. patent application Ser. No.13/399,391, entitled “FUSING AND CUTTING SURGICAL INSTRUMENT AND RELATEDMETHODS,” filed on Feb. 17, 2012 (now issued as U.S. Pat. No.9,055,961), which claims the benefit of priority to U.S. ProvisionalPatent Application No. 61/444,400, filed on Feb. 18, 2011 and to U.S.Provisional Patent Application No. 61/491,719, filed on May 31, 2011,the disclosures of which are incorporated herein by reference in theirentireties.

In an exemplary embodiment, the control method may be implemented in ateleoperated robotic surgical system such as that illustrated in FIGS.12A-B, and the method of FIG. 10 also will be described in conjunctionwith the use of a motor/limit switch for position detection as describedabove with reference to the exemplary embodiments of FIGS. 4-9. As shownin FIG. 10, at operation 200, a first signal is received, for example,by the electronics/control console 3000, which indicates that thecutting blade 18 of the end effector 14 is translating from one of ahome position and a fully-operational position. As described above, thesignal may be provided through the use of a limit switch, the state ofwhich corresponds to a position of the cutting blade 18. Further, asdiscussed above, when the user (e.g., surgeon) provides input via one ormore input devices 52 at the surgeon side console 2000 to actuate thesurgical instrument to perform a cutting operation, an input signal istransmitted to the electronics/control console 3000. With reference tothe motor/limit switch embodiments described above, theelectronics/control console 3000 in turn can provide voltage to themotor 22 at the transmission mechanism 10. The motor 22 provides adriving force to the drive system 30, which causes the button 25 of thelimit switch 20 to be depressed. When the button 25 is depressed,indicating that the cutting blade 18 is moving from either the homeposition or the fully-operational position, which may be, for example, afully-extended, distal-most position of the cutting blade 18 within thetrack defined by grooves 17 a, 17 b, then the limit switch 20 outputs afirst signal that is detected at the electronics/control console 3000.The signal output by the limit switch 20 can either be an electricalsignal produced by closing a circuit of the switch 20, or can be theinterruption of an electrical signal produced by opening the circuit.

Although various embodiments use a single limit switch 20, it isenvisioned that two limit switches could be used to detect proximal anddistal positions of the cutting blade 18.

The input device(s) 52 of the surgeon side console 2000 can be one ormore of a variety of input devices, including, but not limited to, footpedals, grips, buttons, keyboards, mouse components, speakers configuredto operate in conjunction with voice recognition software, joysticks,etc.

It is to be understood by one of ordinary skill in the art that thefully-operational position is not limited to a fully-extended positionof the cutting blade 18 at the distal end of the grooves 17 a, 17 bshown in FIGS. 2 and 3, but may be any position of the cutting blade 18along the track defined by grooves 17 a, 17 b that corresponds with aposition of the notch 37 at an end of the flange 38 of the worm gear 34.Further, more than one notch 37 can be provided along a length of theflange 38 to correspond to predetermined positions of the end effectorcomponent, e.g., cutting blade 18, that it may be desirable to be awareof during an operation utilizing a translating end effector component.

At operation 202, the electronics/control console 3000 determineswhether a second signal is received from the limit switch 20 indicatingthat the cutting blade 18 is in one of the home position or thefully-operational position. As discussed above, when the worm gear 34rotates to a predetermined position, the limit switch component, e.g.,button 25, is received within a notch 37 of the worm gear 34, whichreleases the button 25 from the depressed state and out of contact withthe flange 38. As the drive component 60, which controls the position ofthe cutting blade 18, is controlled in concert with the rotation of theworm gear 34, when the button 25 is received in the notch 37, then thereleased (undepressed) state of the button 25 indicates that the cuttingblade 18 is either in the home position or in the second (e.g.,fully-extended) position. When the button 25 is released, the limitswitch 20 outputs a second signal that is received at the core controlconsole 3000.

At operation 202, the electronics/control console 3000 determineswhether the second signal is received within a predetermined time periodafter detecting the first signal. When the second signal is receivedwithin the predetermined time period after the first signal is detected,at operation 204, the electronics/control console 3000 does not detect afault condition of the cutting blade 18. If the predetermined timeperiod after the first signal is detected elapses without receiving thesecond signal at the electronics/control console 3000, then a faultcondition of the cutting blade 18 is detected at operation 206. Forexample, the fault condition of the cutting blade 18 indicates, forexample, that the blade 18 is stuck (e.g., on tissue or other material)and unable to return to the home position.

In various exemplary embodiments, the predetermined time period abovecan range from about 500 ms to about 1000 ms. Further, the predeterminedtime period may be a total period of time sufficient to advance thecutting blade 18 from a home position to a fully-operational position inwhich, for example, the cutting blade 18 is fully-extended to perform acutting procedure, and to fully retract back to the home position. Thepredetermined time period may be, for example, a total of 1000 ms, fromwhen the cutting blade 18 begins moving from the home position to thefully-operational position and reaches the fully-operational position atwhich cutting occurs, e.g., 500 ms, and moves back to the home positionfrom the fully-operational position, e.g., 500 ms. In this case, thesecond signal that is received is a signal indicating that the cuttingblade 18 has retracted to the home position and the limit switchtherefore moves from a depressed state (during translation of thecutting blade from the home position), to an undepressed state (at thefully-extended position of the cutting blade), back to a depressed state(during retraction of the cutting blade from the fully-extendedposition), and back to an undepressed state (at the home position of thecutting blade). In an alternative embodiment, the predetermined timeperiod is a period of time, for example, 500 ms, from when the cuttingblade 18 begins moving from the home position to when the cutting blade18 reaches the fully-operational (e.g., fully-extended) position. Inthis case, the second signal that is received is a signal indicatingthat the cutting blade 18 has reached the fully-operational position. Inanother alternative, the predetermined time period is a period of time,for example, 500 ms, from when the cutting blade begins moving from thefully-operational position to when the cutting blade 18 reaches the homeposition. In this case, the second signal that is received is a signalindicating that the cutting blade 18 has retracted to the home position.

At operation 208, when the fault condition of the end effectorcomponent, such as cutting blade 18, is detected, then theelectronics/control console 3000 sends control signals to automaticallyactuate the end effector 14 in an attempt to rectify the fault conditionand/or a notification signal is transmitted, for example, to the surgeonside console 2000 or elsewhere, to output to the user an indication ofthe fault condition of the end effector component. A notification may betransmitted alone or may be transmitted as the end effector is operatedto eliminate the fault condition. One or more notification signals maybe transmitted from the electronics/control console 3000 that detectsthe fault condition of the cutting blade 18 to one or more output units54, 56, e.g., display 54 and/or speaker 56, at the surgeon side console2000. The notification signal can cause any of a variety of perceptiblefeedbacks to the user (e.g., surgeon), including but not limited tovisual feedback, such as, for example, an image, text, and/or an iconpresented on a display; audio feedback (e.g., a beep, buzz, chime,click, etc., or computer-generated voice response, etc.); hapticsensation (e.g., vibration) feedback, or combinations thereof.

At operation 208, either separately from transmitting the notificationsignal or concurrently therewith, the end effector 14 can beautomatically operated based on signals from the electronics/controlconsole 3000 to eliminate the fault condition. For example, during theautomatic operation of the end effector 14, the electronics/controlconsole 3000 may not respond to some inputs from the surgeon sideconsole 2000, such as, for example, a pedal input devices configured tocontrol a cutting operation of the end effector 14. Though it isenvisioned that override control can still be provided at the surgeonside console 2000. In an exemplary embodiment, operation 208 can includesending a signal from the electronics/control console 3000 to thepatient side console 1000 to move the jaws 16 a, 16 b to open apredetermined distance in order to attempt to free the cutting blade 18from the material on which it is stuck. The jaws 16 a, 16 b may be fullyopened or opened to a limited degree in order to aid in releasing thecutting blade 18 from tissue to which the blade 18 is attached.

In another alternative, either in lieu of, concurrently with, orsubsequent to opening of the jaws, the cutting blade 18 can beautomatically operated and motion imparted thereto in an attempt toloosen it from the material upon which it is stuck. Turning now to FIG.11, an exemplary method for automatically operating the cutting blade 18to attempt to free it from a stuck condition is depicted. In theexemplary method of FIG. 11, the cutting blade 18 may be subjected to aback and forth (e.g., oscillatory) movement. At operation 300 in FIG.11, the drive component 60 of the cutting blade 18 is actuated to beadvanced toward the fully-operational position of the blade 18. Atoperation 302, the drive component 60 is subjected to an actuation forceto retract the cutting blade 18 toward the home position. In anexemplary embodiment, the actuation force used at operation 302 can belarger than the force at operation 300. The larger driving force atoperation 302 may be desirable to cause the cutting blade 18 to bereleased from the tissue to which the blade 18 is stuck while theactuation force acting on the cutting element drive component 60 is aforce moving the component 60 in a retraction direction. Providing agreater driving force in the proximal (retraction) direction than thedriving force in the distal (extension) direction can assist inpreventing the blade 18 from becoming stuck in a more extended position,Further, this can also assist to bias the force in the proximal(retraction) direction so that the blade 18 may ultimately move closerto the home position with each oscillation.

If the second signal is received at operation 304, then the blade 18 hasbeen received at one of the home position or the fully-operationalposition, indicating that the blade 18 has been released from thetissue. The blade oscillation is thus ended at operation 306 when thesecond signal is received. If the second signal is not received atoperation 304, then operations 300 and 302 of the oscillation areperformed for a predetermined number of cycles, until a maximum numberof oscillation cycles is met at operation 308. If a maximum number ofoscillation cycles has been met, indicating that the blade 18 is stillstuck, at operation 310, the blade oscillation operation ends. At thispoint, the user (e.g., surgeon) is permitted to attempt to remove theentire surgical instrument 100 from the patient and/or to performanother procedure (e.g., using inputs at the surgeon side console 2000)to attempt to remove the cutting blade from its stuck condition.

The oscillatory operation of the cutting blade 18 can be performed usingthe onboard motor 22 and drive system 30 shown and described above withreference to FIGS. 4-9. In an exemplary embodiment, the motor 22 can beoperated to drive the cutting blade 18 distally for at least about 30ms, e.g., about 125 ms, hold the cutting blade 18 in the distal positionfor about 100 ms, and then drive the cutting blade 18 proximally for atleast about 30 ms, e.g., about 125 ms. For example, the total cycleperiod may be about 350 ms, for example. In an exemplary embodiment, thevoltage applied to the motor 22 can range from about 2.5V to about 8V,e.g., from about 6.5V to about 8 V, to actuate the drive component 60 toadvance the cutting blade 18 in the distal direction. In an exemplaryembodiment, the voltage applied to the motor 22 can range from about2.5V to about 8V, e.g., from about 6.5V to about 8V, to actuate thedrive component 60 to retract the cutting blade 18 in the proximaldirection.

Those having ordinary skill in the art would appreciate that theoperations shown and described above with reference to FIGS. 10 and 11are not limited to use of an onboard motor in a transmission mechanismas the mechanism to provide the motive force to operate the end effectorto release the stuck component (e.g., cutting blade 18), and the sameoperations could be used with servo actuators interfacing with thetransmission mechanism to control the end effector operation. Moreover,the operations of FIGS. 10 and 11 could be implemented on a variety ofsurgical instruments having configurations other than the specificembodiments shown and described in detail herein, including, forexample, surgical instruments employing other translating cuttingmechanisms, such as surgical staplers, and/or surgical instrumentsemploying other translating or other mechanisms that can get stuckduring motion from one position to another when performing a surgicalprocedure. Also, the disclosed methods and systems are not limited todetecting a fault condition of a cutting element, but could beimplemented for a variety of surgical procedures by monitoring the timeto perform an automatic operation and detecting the beginning of theoperation and an end of the operation within the monitored time todetect a fault in the system.

Those having ordinary skill in the art would appreciate that thedetection of the positions of the end effector component described aboveare not limited to using a limit switch to detect the positions and anyof a variety of components, such as, for example, optical sensors,encoders, hall sensors, etc., may be used to detect the positions of theend effector component to perform the fault condition determination.

Exemplary embodiments, including the various operational methodsdescribed herein, can be implemented in computing hardware (computingapparatus) and/or software, such as (in a non-limiting example) anycomputer that can store, retrieve, process and/or output data and/orcommunicate with other computers. The results produced can be displayedon a display of the computing hardware. One or more programs/softwarecomprising algorithms to affect the various responses and signalprocessing in accordance with various exemplary embodiments of thepresent disclosure can be implemented by a processor 50 of or inconjunction with the electronics/control console 3000, and may berecorded on computer-readable media including computer-readablerecording and/or storage media. Examples of the computer-readablerecording media include a magnetic recording apparatus, an optical disk,a magneto-optical disk, and/or a semiconductor memory (for example, RAM,ROM, etc.). Examples of the magnetic recording apparatus include a harddisk device (HDD), a flexible disk (FD), and a magnetic tape (MT).Examples of the optical disk include a DVD (Digital Versatile Disc), aDVD-RAM, a CD-ROM (Compact Disc-Read Only Memory), and a CD-R(Recordable)/RW.

As described above, the methods and systems in accordance with variousexemplary embodiments can be used in conjunction with a surgicalinstrument having an end effector configured to perform multiplesurgical procedures via components that are actuated via a transmissionmechanism at the proximal end of the instrument. In an exemplaryembodiment, as described above, the end effector may be a combinedfusing, gripping and cutting end effector as shown and described, forexample, in U.S. patent application Ser. No. 13/399,391, entitled“FUSING AND CUTTING SURGICAL INSTRUMENT AND RELATED METHODS,” filed onFeb. 17, 2012 (now issued as U.S. Pat. No. 9,055,961), which claims thebenefit of priority to U.S. Provisional Patent Application No.61/444,400, filed on Feb. 18, 2011 and to U.S. Provisional PatentApplication No. 61/491,719, filed on May 31, 2011, the disclosures ofwhich are incorporated herein by reference in their entireties.

Further modifications and alternative embodiments will be apparent tothose of ordinary skill in the art in view of the disclosure herein. Forexample, the systems and the methods may include additional componentsor steps that were omitted from the diagrams and description for clarityof operation. Accordingly, this description is to be construed asillustrative only and is for the purpose of teaching those skilled inthe art the general manner of carrying out the present teachings. It isto be understood that the various embodiments shown and described hereinare to be taken as exemplary. Elements and materials, and arrangementsof those elements and materials, may be substituted for thoseillustrated and described herein, parts and processes may be reversed,and certain features of the present teachings may be utilizedindependently, all as would be apparent to one skilled in the art afterhaving the benefit of the description herein. Changes may be made in theelements described herein without departing from the spirit and scope ofthe present teachings and following claims.

It is to be understood that the particular examples and embodiments setforth herein are nonlimiting, and modifications to structure,dimensions, materials, and methodologies may be made without departingfrom the scope of the present teachings. For example, various aspectshave been described in the context of an instrument used in a surgicalrobotic system. But these aspects may be incorporated into hand-heldinstruments as well.

Other embodiments in accordance with the present disclosure will beapparent to those skilled in the art from consideration of thespecification and practice of the invention disclosed herein. It isintended that the specification and examples be considered as exemplaryonly, with a true scope and spirit being indicated by the followingclaims.

What is claimed is:
 1. A method of controlling a surgical instrumentcomprising an end effector, the method comprising: detecting a firstsignal indicating that an end effector component of a surgicalinstrument is positioned between a first position and a second position;and automatically controlling operation of the end effector componentwhen a second signal is not detected within a predetermined delayedresponse time period after detecting the first signal, wherein thesecond signal indicates that the end effector component is in one of thefirst position or the second position.
 2. The method according to claim1, wherein automatically controlling the operation of the end effectorcomponent comprises transmitting an oscillating driving force to the endeffector component.
 3. The method according to claim 2, whereintransmitting the oscillating driving force comprises transmitting adirectional driving force that is higher in a first direction ofoscillation than in a second direction of the oscillation.
 4. The methodaccording to claim 3, wherein the first direction is toward a proximaldirection of the surgical instrument and the second direction is towarda distal direction of the surgical instrument.
 5. The method accordingto claim 2, wherein transmitting the oscillating driving force comprisestransmitting the oscillating driving force for a predetermined number ofoscillation cycles.
 6. The method according to claim 5, whereinautomatically controlling the operation of the end effector componentfurther comprises transmitting a directional driving force for movingthe end effector component in a proximal direction of the surgicalinstrument after transmitting the oscillating driving force for thepredetermined number of oscillation cycles.
 7. The method according toclaim 1, wherein the surgical instrument comprises an end effectorhaving opposing jaw components, and wherein the method further comprisesautomatically opening the opposing jaw components a predetermined amountafter the second signal is not received within the predetermined timeperiod.
 8. The method according to claim 1, further comprisingoutputting feedback to a user indicating a fault condition of the endeffector component after the second signal is not received within thepredetermined time period.
 9. The method according to claim 8, whereinoutputting the feedback comprises outputting at least one of visual andauditory feedback.
 10. The method according to claim 1, wherein thepredetermined delayed response time period is at least a total period oftime for the end effector component to move from the first position tothe second position, and back to the first position.
 11. The methodaccording to claim 1, wherein the predetermined delayed response timeperiod is at least the total period of time required for the endeffector component to move from the first position to the secondposition.
 12. The method according to claim 1, wherein the predetermineddelayed response time period is at least a total period of time requiredfor the end effector component to move from the second position to thefirst position.
 13. The method according to claim 1, wherein the firstsignal and the second signal are generated by a limit switch operatingbetween two states based on a position of the end effector component.14. The method according to claim 13, wherein the limit switch is in afirst state when the end effector component is moving between the firstposition and the second position, and wherein the limit switch is in asecond state when the end effector component is in one of the firstposition or the second position.
 15. The method of claim 1, wherein theend effector component is a cutting component configured to translatebetween the first and second positions.
 16. A method of controllingoperation of a surgical instrument, the method comprising: sending atranslating movement command, via a controller, to impart a translatingmovement to an end effector component of the surgical instrument so asto move the end effector component from a first position to a secondposition; and alter the translating movement of the end effector, viathe controller, if the controller has not received a signal indicatingthe end effector has reached a preset location before a predeterminedtime period elapses from initiation of the translating movement command.17. The method of claim 16, wherein the controller sends the translatingmovement command in response to input by a user operating the surgicalinstrument.
 18. The method of claim 16, wherein: the end effectorcomponent is a cutting mechanism disposed between opposing jaw membersof the surgical instrument; and sending the translating movement commandimparts translating movement to the cutting mechanism in a lengthwisedirection along the opposing jaw members.